Physics 1

Mechanics

Rahadian N, S.Si. M.Si.

Rotational Dynamics
 Rotational Dynamics
• Torque

• Moment of inertia

• Newton 2nd law in rotation

• Rotational work

• Rotational kinetic energy

• Rotational energy conservation

• Rolling motion of a rigid object

 Force vs. Torque
• Forces cause accelerations
• What cause angular accelerations ?
• A door is free to rotate about an axis through O
• There are three factors that determine the effectiveness of
the force in opening the door:
– The magnitude of the force
– The position of the application of the force
– The angle at which the force is applied
 Torque Definition
• Torque, , is the tendency of a force to rotate an
object about some axis
• Let F be a force acting on an object, and let r be a
position vector from a rotational center to the
point of application of the force, with F
perpendicular to r. The magnitude of the torque is
given by

  rF
 Torque Units and Direction
• The SI units of torque are N.m
• Torque is a vector quantity
• Torque magnitude is given by

  rF sin   Fd
• Torque will have direction
– If the turning tendency of the force is counterclockwise, the
torque will be positive
– If the turning tendency is clockwise, the torque will be
negative
 Net Torque

• The force F1 will tend to
cause a counterclockwise
rotation about O

• The force F2 will tend to
cause a clockwise rotation
about O
•    F1d1 – F2d2
• If   , starts rotating  Rate of rotation of an
• If  , rotation rate does object does not change,
not change unless the object is acted
on by a net torque
 General Definition of Torque
• The applied force is not always perpendicular to the
position vector
• The component of the force perpendicular to the object
will cause it to rotate
• When the force is parallel to the position vector, no
rotation occurs
• When the force is at some angle, the perpendicular
component causes the rotation
 General Definition of Torque
• Let F be a force acting on an object, and let r be a
position vector from a rotational center to the point of
application of the force. The magnitude of the torque
is given by

  rF sin 
•  ° or  °:
torque are equal to zero
•  ° or  °: magnitude of torque attain to
the maximum
 Understand sinθ
• The component of the force (F
cos  ) has no tendency to   rF sin  Fd
produce a rotation
• The moment arm, d, is the
perpendicular distance from
the axis of rotation to a line
drawn along the direction of
the force
d = r sin
 The Swinging Door
• Three forces are applied to a door, as shown in
figure. Suppose a wedge is placed 1.5 m from the
hinges on the other side of the door. What minimum
force must the wedge exert so that the force applied
won’t open the door? Assume F1 = 150 N, F2 = 300 N,
F3 = 300 N, θ = 30°

F3 F2
θ
2.0m F1
 Moment of Inertia
• For a single particle, the definition of moment of
inertia is
I  mr 2

– m is the mass of the single particle

– r is the rotational radius

• SI units of moment of inertia are kg.m2

• Moment of inertia and mass of an object are different

quantities

• It depends on both the quantity of matter and its

distribution (through the r2 term)
 Moment of Inertia of Point Mass
• For a composite particle, the definition of moment of inertia
is
2 2 2 2 2
I   mi ri  m1r1  m2 r2  m3 r3  m4 r4  ...
– mi is the mass of the ith single particle
– ri is the rotational radius of ith particle
• SI units of moment of inertia are kg.m2
• Consider an unusual baton made up of four sphere fastened
to the ends of very light rods
• Find I about an axis perpendicular to the page and passing
through the point O where the rods cross
2
I   mi ri  mb 2  Ma 2  mb 2  Ma 2  2 Ma 2  2mb 2
 The Baton Twirler
• Consider an unusual baton made up
of four sphere fastened to the ends of
very light rods. Each rod is 1.0m long
(a = b = 1.0 m). M = 0.3 kg and m =
0.2 kg.
• (a) Find I about an axis perpendicular
to the page and passing through the
point where the rods cross. Find KR if
angular speed is 
• (b) The majorette tries spinning her
strange baton about the axis y,
calculate I of the baton about this axis
and KR if angular speed is 
 Moment of Inertia of Extended Objects
• Divided the extended objects into many small volume
elements, each of mass mi
• We can rewrite the expression for I in terms of m
I  lim
mi 0
 i i  dm
i
r 2
m  r 2

• Consider a small volume such that dm = dV. Then

I    r 2 dV
• If  is constant, the integral can be evaluated with known
geometry, otherwise its variation with position must be
known
 Densities
• You know the density (volume density) as mass/unit
volume
–  = M/V = dm/dV => dm = dV

• We can define other densities such as surface

density (mass/unit area)
–  = M/A = dm/dA => dm = dV

• Or linear density (mass/unit length)

–  = M/L = dm/dx => dm = dV
 Moment of Inertia
of a Uniform Rigid Rod
• The shaded area has a
mass
– dm =  dx
• Then the moment of
inertia is
L /2 M
I y   r dm   x
2 2
dx
 L/2 L
1
I  ML2
12
Moment of Inertia for some other common
shapes
 Parallel‐Axis Theorem
• In the previous examples, the axis of rotation
coincides with the axis of symmetry of the
object
• For an arbitrary axis, the parallel‐axis
theorem often simplifies calculations
• The theorem states D
I = ICM + MD 2
– I is about any axis parallel to the axis through the
center of mass of the object
– ICM is about the axis through the center of mass
– D is the distance from the center of mass axis to
the arbitrary axis
 Moment of Inertia
of a Uniform Rigid Rod
• The moment of inertia
about y is
L /2 M
I y   r dm  
2
x2 dx
 L /2 L
1
I ML2
12
• The moment of inertia
about y’ is
1 L 2 1
I y '  I CM  MD  ML  M ( )  ML2
2 2

12 2 3
Newton’s Second Law for a Rotating Object
• When a rigid object is subject to a net torque (≠0), it
undergoes an angular acceleration

  I
• The angular acceleration is directly proportional to the
net torque
• The angular acceleration is inversely proportional to the
moment of inertia of the object
• The relationship is analogous to
 F  ma
 Strategy to use the Newton 2nd Law
• Draw or sketch system. Adopt coordinates, indicate rotation
axes, list the known and unknown quantities, …
• Draw free body diagrams of key parts. Show forces at their
points of application. Find torques about a (common) axis

• May need to apply Second Law twice, once to each part

  Note: can have
 Translation: Fnet   Fi  ma Fnet = 0
but net ≠ 0
  
 Rotation: net   i  I

• Make sure there are enough (N) equations; there may be

constraint equations (extra conditions connecting unknowns)
• Simplify and solve the set of (simultaneous) equations.
• Find unknown quantities and check answers
 The Falling Object
• A solid, frictionless cylindrical reel of mass
M = 2.5 kg and radius R = 0.2 m is used to
draw water from a well. A bucket of mass
m = 1.2 kg is attached to a cord that is
wrapped around the cylinder.
• (a) Find the tension T in the cord and
acceleration a of the object.
• (b) If the object starts from rest at the top
of the well and falls for 3.0 s before hitting
the water, how far does it fall ?
 Newton 2nd Law for Rotation
• Draw free body diagrams
of each object
• Only the cylinder is
rotating, so apply
 = I r

• The bucket is falling, but

a
not rotating, so apply
F = ma
• Remember that a = r and
solve the resulting mg
equations
• Cord wrapped around disk, hanging weight
• Cord does not slip or stretch  constraint
• Disk’s rotational inertia slows accelerations
• Let m = 1.2 kg, M = 2.5 kg, r =0.2 m
For mass m:

T F y  ma  mg  T r
y
mg T  m( g  a ) Unknowns: T, a
support force
a
at axis “O” has
FBD for disk, with axis at “o”: zero torque
1
N  0   Tr  I I
2
Mr 2

Tr m( g  a)r
T
  1 2 Unknowns: a,  mg
Mg I 2
Mr
from “no
So far: 2 Equations, 3 unknowns Need a constraint: a  r slipping”
Substitute and solve: assumption

2 mgr 2 m r 2   2mg
( 24 rad / s 2 )
m mg
   1  2  
Mr 2
Mr 2  M  Mr r (m  M / 2)

December 21, 2020

• Cord wrapped around disk, hanging weight
• Cord does not slip or stretch  constraint
• Disk’s rotational inertia slows accelerations
• Let m = 1.2 kg, M = 2.5 kg, r =0.2 m
For mass m:

T F y  ma  mg  T
y
r
mg T  m( g  a ) Unknowns: T, a
support force
at axis “O” has
( 24 rad/s 2 )
mg zero torque
 a
r (m  M / 2)

( 4.8 m/s2 )
mg
a
(m  M / 2)

T  m( g  a )  1.2(9.8  4.8)  6 N mg

1 1
x f  xi  vi t  at 2  0  (4.8 m/s 2 )(3 s) 2  21.6 m
2 2
 Rotational Kinetic Energy
• There is an analogy between the kinetic energies
associated with linear motion (K = ½ mv2) and the
kinetic energy associated with rotational motion (KR
= ½ I2). Where I is the moment of inertia.

• Rotational kinetic energy is not a new type of energy,

the form is different because it is applied to a
rotating object

• Units of rotational kinetic energy are Joules (J)

• An object rotating about z axis with an angular
speed, ω, has rotational kinetic energy

• The total rotational kinetic energy of the rigid object

is the sum of the energies of all its particles

1
K R   K i   mi ri 
2 2

i i 2

1 2 2 1 2
K R    mi ri   I
2 i  2
 Work‐Energy Theorem for pure
Translational motion
• The work‐energy theorem tells us
1 2 1 2
Wnet  KE  KE f  KEi  mv f  mvi
2 2
• Kinetic energy is for point mass only, ignoring
rotation.  
• Work Wnet   dW   F  d s


 ds  
• Power P
dW
 F  F v
dt dt
 Mechanical Energy Conservation
• Energy conservation
Wnc  K  U
• When Wnc = 0,
K f  U f  U i  Ki
• The total mechanical energy is conserved and remains the
same at all times
1 2 1 2
mvi  mgyi  mv f  mgy f
2 2
• Remember, this is for conservative forces, no dissipative
forces such as friction can be present
 Total Energy of a System
• A ball is rolling down a ramp
• Described by three types of energy
– Gravitational potential energy
U  Mgh
– Translational kinetic energy 1
Kt  2
MvCM
2
1 2
– Rotational kinetic energy Kr  I
2

• Total energy of a system 1 1 2

E  MvCM  Mgh  I 
2

2 2
 Work done by a pure rotation
• Apply force F to mass at point r, causing
rotation‐only about axis
• Find the work done by F applied to the
object at P as it rotates through an
infinitesimal distance ds
 
dW  F  d s  F cos(90   ) ds
 F sin  ds  Fr sin  d
• Only transverse component of F does

dW  d
work – the same component that
contributes to torque

December 21, 2020

 Work‐Kinetic Theorem pure rotation
• As object rotates from i to f , work done by the torque
f f f f f
d
W   dW   d   Id   I d   Id
i i i i dt i
• I is constant for rigid object

f f
1 2 1 2
W   Id  I  d  I f  Ii
i i 2 2
• Power
dW d
P   
dt dt
• An motor attached to a grindstone exerts a constant torque of 10
N‐m. The moment of inertia of the grindstone is I = 2 kg‐m2. The
system starts from rest.
– Find the kinetic energy after 8 s
1 2 
K f  I  f  1600 J   f  i   t  40 rad/s     5 rad/s 2
2 I
– Find the work done by the motor during this time
f

W   d   ( f   i )  10 160  1600 J

i
1 1 1
( f  i )  i t   t 2  160 rad W  K f  Ki  I  2f  I i2  1600 J
2 2 2
– Find the average power delivered by the motor
dW 1600
Pavg    200 watts
dt 8
– Find the instantaneous power at t = 8 s
P    10  40  400 watts
 Work‐Energy Theorem
• For pure translation
1 2 1 2
Wnet  K cm  K cm, f  K cm,i  mv f  mvi
2 2
• For pure rotation
1 2 1 2
Wnet  K rot  K rot , f  K rot ,i  I  f  I i
2 2
• Rolling: pure rotation + pure translation
Wnet  Ktotal  ( K rot , f  K cm, f )  ( K rot ,i  K cm,i )
1 2 1 2  1 2 1 2
  I  f  mv f    I i  mvi 
2 2  2 2 
 Energy Conservation
• Energy conservation
Wnc  K total  U
• When Wnc = 0,
K rot , f  K cm, f  U f  K rot ,i  K cm ,i  U i
• The total mechanical energy is conserved and remains the
same at all times
1 2 1 2 1 1
Ii  mvi  mgyi  I 2f  mv 2f  mgy f
2 2 2 2
• Remember, this is for conservative forces, no dissipative
forces such as friction can be present
 Total Energy of a Rolling System
• A ball is rolling down a ramp
• Described by three types of energy
– Gravitational potential energy
U  Mgh
– Translational kinetic energy
1
K t  Mv 2
2
– Rotational kinetic energy
1 2
Kr  I
2
• Total energy of a system 1 1 2
E  Mv  Mgh  I
2

2 2
 Problem Solving Hints
• Choose two points of interest
– One where all the necessary information is given
– The other where information is desired
• Identify the conservative and non‐conservative
forces
• Write the general equation for the Work‐Energy
theorem if there are non‐conservative forces
– Use Conservation of Energy if there are no non‐
conservative forces
• Use v = r to combine terms
• Solve for the unknown
 A Ball Rolling Down an Incline
• A ball of mass M and radius R starts from rest at a height of h
and rolls down a 30 slope, what is the linear speed of the
ball when it leaves the incline? Assume that the ball rolls
without slipping.
1 2 1 2 1 1
mvi  mgyi  Ii  mvf  mgyf  I f
2 2

2 2 2 2
1 1
0  Mgh 0  Mvf  0  I f
2 2

2 2
2 vf
I  MR  f 
2

5 R
2
1 2 1 2 v 1 2 1 2 10
Mgh  Mvf  MR2 2  Mvf  Mvf v f  ( gh)1/ 2
f

2 25 R 2 5 7
 Rotational Work and Energy
• A ball rolls without slipping down incline A,
starting from rest. At the same time, a box
starts from rest and slides down incline B,
which is identical to incline A except that it is
frictionless. Which arrives at the bottom first?
• Ball rolling:

1 1 1 1
mvi  mgyi  Ii  mv f  mgy f  I f
2 2 2 2

2 2 2 2
1 1 1 12  7
mgh  mv f 2  I  f 2  mv f 2   mR 2  (v f / R) 2  mv f 2
• Box sliding
2 2 2 25  10
1 2 1 2
mvi  mgyi  mv f  mgy f
2 2
1 7
sliding: mgh  mv f 2 rolling: mgh  mv f 2
2 10
 Blocks and Pulley
• Two blocks having different masses m1 and m2
are connected by a string passing over a pulley.
The pulley has a radius R and moment of inertia
I about its axis of rotation. The string does not
slip on the pulley, and the system is released
from rest.

• Find the translational speeds of the blocks after

block 2 descends through a distance h.
• Find the angular speed of the pulley at that
time.
• Find the translational speeds of the blocks after block 2
descends through a distance h.
K rot , f  K cm , f  U f  K rot ,i  K cm ,i  U i

1 1 1
( m1v f  m2v f  I f )  (m1gh  m2 gh)  0  0  0
2 2 2

2 2 2
1 I
(m1  m2  2 )v2f  m2 gh  m1gh
2 R
1/ 2
 2(m2  m1 ) gh 
vf   2
 1
m  m2  I / R 
• Find the angular speed of the pulley at that time.
1/ 2
vf 1  2(m2  m1 ) gh 
f    
R R  m1  m2  I / R2 